Abstract
Received Feb. 3,1978. Index categories: Navigation, Control and Guidance Theory; Computer Technology and Computer Simulation Techniques. *Staff Member. algorithm I suggested has the effect of halving word length, but only for near-zero quaternion elements. By clever arrangement of equations equivalent to Spurrier's, Shepperd' has independently produced an algorithm offering the same precision and almost as much speed as Spurrier's, and in addition, the shortest load module of the three. Byte counts for the three HAL/S IBM-370 load modules (with trace option) are Spurrier 750, Klumpp 648, Shepperd 580. All three were coded by the same person, eliminating the programmer variable. Reference 1 presents Shepperd's equations. Reference 2 includes the algorithm.
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